Hardware Configs¶

Which setup are you?¶

Pick the row that matches your sensors. Everything else follows from there.

My sensors	Use case	Start here
IMU + wheel odometry	Indoor, no GPS: warehouse, home robot, lab	`wheels_indoor.yaml`
IMU + LiDAR ICP	Indoor, no wheel odom: using KISS-ICP or rtabmap	`icp_indoor.yaml`
IMU + wheel odom + LiDAR ICP	Indoor, both velocity sources for redundancy	`wheels_indoor.yaml` + uncomment `encoder2.topic`
IMU + wheel odom + GPS	Outdoor, field robots, GPS navigation	`bno085_custom.yaml` or `clearpath_husky.yaml`

Variations within each setup: one-line changes, not separate configs:

Variation	Parameter to change
Standard GPS → RTK float	`gnss.base_noise_xy: 0.5`, `gnss.min_fix_type: 3`
Standard GPS → RTK fixed	`gnss.base_noise_xy: 0.015`, `gnss.min_fix_type: 4`
6-axis IMU → 9-axis (BNO085, VectorNav)	`imu.has_magnetometer: true`
Add dual GPS antenna heading	`gnss.heading_topic: "/gnss/heading"`
Add Nav2	Use `fusioncore_nav2.launch.py` instead of `fusioncore.launch.py`
Urban vs open sky GPS noise	Layer an environment preset on top

All config files¶

Config	Setup	Platform	IMU	GPS
`wheels_indoor.yaml`	IMU + wheels	Any differential drive (generic)	Any 6-axis MEMS	none
`icp_indoor.yaml`	IMU + LiDAR ICP	Any indoor robot with LiDAR	Any 6-axis MEMS	none
`bno085_custom.yaml`	IMU + wheels + GPS	Any differential drive (DIY)	Bosch BNO085	u-blox M8N class
`clearpath_husky.yaml`	IMU + wheels + GPS	Clearpath Husky A200	Microstrain 3DM-GX5-25	u-blox F9P
`duatic_mecanum.yaml`	IMU + wheels	Duatic mecanum platform	BNO085	none

Using a config¶

ros2 launch fusioncore_ros fusioncore.launch.py \
  fusioncore_config:=$(ros2 pkg prefix fusioncore_ros)/share/fusioncore_ros/config/wheels_indoor.yaml

Add remaps if your topics differ from the defaults:

ros2 launch fusioncore_ros fusioncore.launch.py \
  fusioncore_config:=$(ros2 pkg prefix fusioncore_ros)/share/fusioncore_ros/config/wheels_indoor.yaml \
  --ros-args \
  -r /odom/wheels:=/diff_controller/odom \
  -r /imu/data:=/imu

Indoor / GPS-denied robots¶

See Indoor / LiDAR ICP for detailed setup instructions: KISS-ICP, rtabmap, OAK-D IMU remaps, SLAM integration.

Layering environment presets¶

See Environment Presets to tune GPS noise for your operating conditions without editing the hardware config.

Don't see your hardware?¶

Open a Hardware Config Request with your sensor datasheets and the community will help put one together.